ACCELERATION ANALYSIS OF MULTI-RIGID-BODY SYSTEMS AND ITS APPLICATION FOR PARALLEL STABILIZED PLATFORM

Keywords

Abstract

A new approach for analysing dynamics of complexity multi-rigid-
body systems is proposed in this paper, and it is applied to the
study of a parallel inertial stabilized platform. Firstly, based
on six-dimensional representation of rigid-body acceleration, an
acceleration transformation relationship of diﬀerent rigid bodies
is given, and a method of acceleration adjoint transformation in
multi-rigid-body systems is established. Similarly, the mapping
relationship representing the coordinates of a point to its acceleration
is developed, and a method of acceleration adjoint mapping of
multi-rigid-body systems is established. Then, the method is
extended to the application of a parallel ship-based stabilized
platform, the motion relationship among bodies is deduced, and
the dynamic model of the parallel ship-based stabilized platform
in a non-inertial frame is built. An algorithm of velocity and
acceleration correction for safe landing of helicopter is presented.
Finally, the method is veriﬁed by analysing the virtual prototype.
A bridge for six-dimensional rigid-body acceleration from theory
achievements to practical application is built, theoretic support for
developing sterility control strategies and producing prototype is
provided.